Connection Event: Carrier Detect found.506963 Iridium console active and ready... Vehicle Name: ru44 Curr Time: Wed Jul 23 21:23:42 2025 MT: 506963 DR Location: 1028.094 N 12402.020 E measured 40.6 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1028.178 N 12402.129 E measured 98.561 secs ago GPS Location: 1028.094 N 12402.020 E measured 43.559 secs ago sensor:c_wpt_lat(lat)=1028.395 2470.14 secs ago sensor:c_wpt_lon(lon)=12402.0538 2470.14 secs ago sensor:m_battery(volts)=16.1150365214299 59.715 secs ago sensor:m_coulomb_amphr(amp-hrs)=32.52514 not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 99999996 3.83 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=32.4163999999996 3.834 secs ago sensor:m_depth(m)=0 3.696 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 4.064 secs ago sensor:m_gps_mag_var(rad)=0.015707963267949 43.603 secs ago sensor:m_iridium_attempt_num(nodim)=1 36.084 secs ago sensor:m_iridium_call_num(nodim)=1111 0.056 secs ago sensor:m_iridium_dialed_num(nodim)=1513 8.074 secs ago sensor:m_leakdetect_voltage(volts)=2.49142246642247 43.7 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.496336996337 43.664 secs ago sensor:m_leakdetect_voltage_science(volts)=2.4996336996337 43.628 secs ago sensor:m_tot_num_inflections(nodim)=2525 128.719 secs ago sensor:m_vacuum(inHg)=8.08513216117217 43.757 secs ago sensor:m_water_vx(m/s)=-0.030560483908891 60.692 secs ago sensor:m_water_vy(m/s)=-0.128678155657944 60.696 secs ago sensor:u_alt_min_depth(m)=2 1e+308 secs ago sensor:u_max_altimeter(m)=100 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_cor not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] rection(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=1028.3696 2470.22 secs ago sensor:x_last_wpt_lon(lon)=12402.4068 2470.23 secs ago ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior goto_list_4 entered B_ERROR state ABORT HISTORY: last abort time: 2025-07-17T23:33:11 ABORT HISTORY: last abort segment: ru44-2025-197-2-0 (0156.0000) ABORT HISTORY: last abort mission: deep.mi 506963 No login script found for processing. Glider ru44 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1k_n.mi MissionNum:ru44-2025-198-0-117 (0158.0117) Vehicle Name: ru44 Curr Time: Wed Jul 23 21:24:22 2025 MT: 507003 DR Location: 1028.094 N 12402.020 E measured 80.167 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1028.178 N 12402.129 E measured 138.129 secs ago GPS Location: 1028.094 N 12402.020 E measured 83.126 secs ago sensor:c_wpt_lat(lat)=1028.395 2509.7 secs ago sensor:c_wpt_lon(lon)=12402.0538 2509.71 secs ago sensor:m_battery(volts)=16.1127831745373 35.308 secs ago sensor:m_coulomb_amphr(amp-hrs)=32.5288939999996 3.316 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=32.4201439999996 3.32 secs ago sensor:m_depth(m)=0 11.182 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.549 secs ago sensor:m_gps_mag_var(rad)=0.015707963267949 83.17 secs ago sensor:m_iridium_attempt_num(nodim)=1 75.651 secs ago sensor:m_iridium_call_num(nodim)=1111 39.624 secs ago sensor:m_iridium_dialed_num(nodim)=1513 47.641 secs ago sensor:m_leakdetect_voltage(volts)=2.49188034188034 19.169 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49862637362637 19.133 secs ago sensor:m_leakdetect_voltage_science(volts)=2.5 19.098 secs ago sensor:m_tot_num_inflections(nodim)=2525 168.286 secs ago sensor:m_vacuum(inHg)=8.61810583638584 19.226 secs ago sensor:m_water_vx(m/s)=-0.030560483908891 100.259 secs ago sensor:m_water_vy(m/s)=-0.128678155657944 100.263 secs ago sensor:u_alt_min_depth(m)=2 1e+308 secs ago sensor:u_max_altimeter(m)=100 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=1028.3696 2509.79 secs ago sensor:x_last_wpt_lon(lon)=12402.4068 2509.79 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 4/ 4/ 0 odd: 174/ 147/ 2 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior goto_list_4 entered B_ERROR state ABORT HISTORY: last abort time: 2025-07-17T23:33:11 ABORT HISTORY: last abort segment: ru44-2025-197-2-0 (0156.0000) ABORT HISTORY: last abort mission: deep.mi Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations waiting for final gps fix(ideally -36 secs) Waypoint: (1028.3950,12402.0538) Range: 559m, Bearing: 7deg, Age: 0:41h:m Time until diving is: 216 secs s -num=4 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 507046 60 01580117.mcg LOG FILE CLOSED SCIENCE DATA LOGGING: science IS running CONSCI REQUESTED (using IRIDIUM as console) ASKING SCIENCE COMPUTER TO SWITCH TO COMMAND MODE via IRIDIUM SWITCHING TO SCIENCE COMMAND MODE over IRIDIUM Normal operation resumes when: SciDos> QUIT -or- Lose CD (unplug freewave/hangup iridium) -or- run longer than U_SCI_CMD_MAX_CONSCI_TIME(3600)s 507055 63 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size SCI: Enumerating and selecting files About to send 4 files Prechecking is not necessary for this invocation START **B00000000000000 Starting zModem transfer of 01580117.tcd to/from ru44 size is 18139 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5120 Total Bytes sent/received: 6144 Total Bytes sent/received: 7168 Total Bytes sent/received: 8192 Total Bytes sent/received: 9216 Total Bytes sent/received: 10240 Total Bytes sent/received: 11264 Total Bytes sent/received: 12288 Total Bytes sent/received: 13312 Total Bytes sent/received: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 16384 Total Bytes sent/received: 17408 Total Bytes sent/received: 18139 zModem transfer DONE for file 01580117.tcd Starting zModem transfer of 01580117.scd to/from ru44 size is 6467 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5120 Total Bytes sent/received: 6144 Total Bytes sent/received: 6467 zModem transfer DONE for file 01580117.scd Starting zModem transfer of 01580116.scd to/from ru44 size is 755 Total Bytes sent/received: 755 zModem transfer DONE for file 01580116.scd Starting zModem transfer of 01580064.scd to/from ru44 size is 874 Total Bytes sent/received: 874 zModem transfer DONE for file 01580064.scd Starting zModem transfer of 01580063.scd to/from ru44 size is 5816 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5120 Total Bytes sent/received: 5816 zModem transfer DONE for file 01580063.scd 507303 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 507303 restore_sensors().... 507303 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES .... 507305 GLD: Sent 4 file(s): 01580117.scd 01580116.scd 01580064.scd 01580063.scd GLD: SUCCESS Glider-Science software version match: 311349.000000 Science hardware version is 3.000000 507308 96 SCI:PROGLET house_elf begin() called 507308 SCI: house_elf: Version 1.2 507309 SCI:PROGLET ctd41cp begin() called 507309 SCI: ctd41cp: Version 0.2 507309 SCI: ctd41cp: Will be sending the following data to glider: 507309 SCI: sci_water_cond(s/m) 507309 SCI: sci_water_temp(degc) 507309 SCI: sci_water_pressure(bar) 507309 SCI: sci_ctd41cp_timestamp(timestamp) 507309 SCI:PROGLET flbbcd begin() called 507309 SCI: flbbcd: Version 0.0 507309 SCI: flbbcd: Will be sending following data to glider: 507309 SCI: sci_flbbcd_chlor_units(ug/l) 507309 SCI: sci_flbbcd_bb_units(nodim) 507309 SCI: sci_flbbcd_cdom_units(ppb) 507309 SCI: sci_flbbcd_chlor_sig(nodim) 507309 SCI: sci_flbbcd_bb_sig(nodim) 507309 SCI: sci_flbbcd_cdom_sig(nodim) 507309 SCI: sci_flbbcd_chlor_ref(nodim) 507309 SCI: sci_flbbcd_bb_ref(nodim) 507309 SCI: sci_flbbcd_cdom_ref(nodim) 507309 SCI: sci_flbbcd_therm(nodim) 507309 SCI: sci_flbbcd_timestamp(timestamp) 507309 SCI:Bit(0) raise count is now 0. 507309 SCI:Bit(0) raise count is now 0. 507309 SCI:PROGLET oxy4 begin() called 507309 SCI: oxy4: Version 0.0 507309 SCI: oxy4: Will be sending following data to glider: 507309 SCI: sci_oxy4_oxygen(um) 507309 SCI: sci_oxy4_saturation(%) 507309 SCI: sci_oxy4_temp(degc) 507309 SCI: sci_oxy4_calphase(deg) 507309 SCI: sci_oxy4_tcphase(deg) 507309 SCI: sci_oxy4_c1rph(deg) 507309 SCI: sci_oxy4_c2rph(deg) 507309 SCI: sci_oxy4_c1amp(mv) 507309 SCI: sci_oxy4_c2amp(mv) 507309 SCI: sci_oxy4_rawtemp(mv) 507309 SCI: sci_oxy4_timestamp(timestamp) 507309 SCI:Bit(2) raise count is now 0. 507309 SCI:Bit(2) raise count is now 0. 507309 SCI:PROGLET suna begin() called 507309 SCI:PROGLET house_elf start() called 507309 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 507309 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 507309 SCI:PROGLET suna start() called 507311 97 SCI: suna_run(): 0 error(s) in a row. (5 is fatal) 507311 SCI: suna_run(): 0 error(s) since suna_begin(). (50 is fatal) 507318 01580118.mcg LOG FILE OPENED -------------------------------- 507318 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru44 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1k_n.mi MissionNum:ru44-2025-198-0-118 (0158.0118) Vehicle Name: ru44 Curr Time: Wed Jul 23 21:29:38 2025 MT: 507319 DR Location: 1028.094 N 12402.020 E measured 396.372 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1028.178 N 12402.129 E measured 454.333 secs ago GPS Location: 1028.094 N 12402.020 E measured 399.33 secs ago sensor:c_wpt_lat(lat)=1028.395 2825.91 secs ago sensor:c_wpt_lon(lon)=12402.0538 2825.91 secs ago sensor:m_battery(volts)=16.1110574238782 0.269 secs ago sensor:m_coulomb_amphr(amp-hrs)=32.5614059999995 0.454 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=32.4526559999996 0.458 secs ago sensor:m_depth(m)=0 0.231 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 7.218 secs ago sensor:m_gps_mag_var(rad)=0.015707963267949 399.374 secs ago sensor:m_iridium_attempt_num(nodim)=0 279.96 secs ago sensor:m_iridium_call_num(nodim)=1111 355.828 secs ago sensor:m_iridium_dialed_num(nodim)=1513 363.845 secs ago sensor:m_leakdetect_voltage(volts)=2.49120879120879 0.213 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49734432234432 0.177 secs ago sensor:m_leakdetect_voltage_science(volts)=2.5 0.142 secs ago sensor:m_tot_num_inflections(nodim)=2525 484.49 secs ago sensor:m_vacuum(inHg)=8.71007916971917 0.36 secs ago sensor:m_water_vx(m/s)=-0.030560483908891 416.463 secs ago sensor:m_water_vy(m/s)=-0.128678155657944 416.467 secs ago sensor:u_alt_min_depth(m)=2 1e+308 secs ago sensor:u_max_altimeter(m)=100 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=1028.3696 2825.99 secs ago sensor:x_last_wpt_lon(lon)=12402.4068 2826 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 4/ 4/ 0 odd: 174/ 147/ 2 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior goto_list_4 entered B_ERROR state ABORT HISTORY: last abort time: 2025-07-17T23:33:11 ABORT HISTORY: last abort segment: ru44-2025-197-2-0 (0156.0000) ABORT HISTORY: last abort mission: deep.mi Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations waiting for final gps fix(ideally -352 secs) Waypoint: (1028.3950,12402.0538) Range: 559m, Bearing: 7deg, Age: 0:47h:m Time until diving is: 299 secs ^W name in ALLCAPS means CRITICAL device (* => SUPERCRITICAL) [I Installed] [- Not_Installed] [u In_use] [- Not_In_use] [X Out_of_Service] name limits stats (#total/#mission/#segment) os w/s w/m os errors warnings oddities 0 simdrvr - 1 test_driver - 2 ARGOS* I u -1 20 5 0 3 WATCHDOG I u -1 -1 -1 0 4 DEADMAN I u -1 20 5 0 5 CONSOLE* I u -1 20 5 0 6 GPS I u -1 20 5 0 [ 0 0 0] [ 4 4 0] [ 0 0 0] 7 attitude_rev I u 3 20 5 0 8 ocean_pressure I u 3 20 5 0 9 vacuum I u 3 20 5 0 10 battery I u 3 20 5 0 11 air_pump I u 3 20 5 0 12 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 3 3 0] 13 science_super I u 3 20 5 0 14 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 119 118 2] 15 altimeter I u 3 20 5 0 16 altimeter_232 - 17 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 46 20 0] 18 leakdetect I u 3 20 5 0 19 recovery - 20 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 6 6 0] 21 veh_temp I u 3 20 5 0 22 BUOYANCY_PUMP - 23 DE_PUMP - 24 HD_PUMP I u 3 20 5 0 25 thruster I u 3 20 5 0 devices:(t/m/s) errs: 0/ 0/ 0 warn: 4/ 4/ 0 odd: 174/ 147/ 2 I heard a character ('CR'), but not the right one Drained the following 2 pending chars from input buffer: 12 0d ^R CR .. Glider ru44 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1k_n.mi MissionNum:ru44-2025-198-0-118 (0158.0118) Vehicle Name: ru44 Curr Time: Wed Jul 23 21:30:18 2025 MT: 507359 DR Location: 1028.094 N 12402.020 E measured 436.382 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1028.178 N 12402.129 E measured 494.343 secs ago GPS Location: 1028.094 N 12402.020 E measured 439.34 secs ago sensor:c_wpt_lat(lat)=1028.395 2865.92 secs ago sensor:c_wpt_lon(lon)=12402.0538 2865.92 secs ago sensor:m_battery(volts)=16.1110574238782 40.279 secs ago sensor:m_coulomb_amphr(amp-hrs)=32.5664139999995 3.306 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=32.4576639999996 3.31 secs ago sensor:m_depth(m)=0 7.179 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1020 7.546 secs ago sensor:m_gps_mag_var(rad)=0.015707963267949 439.384 secs ago sensor:m_iridium_attempt_num(nodim)=0 319.97 secs ago sensor:m_iridium_call_num(nodim)=1111 395.838 secs ago sensor:m_iridium_dialed_num(nodim)=1513 403.855 secs ago sensor:m_leakdetect_voltage(volts)=2.49120879120879 40.223 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49734432234432 40.187 secs ago sensor:m_leakdetect_voltage_science(volts)=2.5 40.152 secs ago sensor:m_tot_num_inflections(nodim)=2525 524.5 secs ago sensor:m_vacuum(inHg)=8.71007916971917 40.37 secs ago sensor:m_water_vx(m/s)=-0.030560483908891 456.473 secs ago sensor:m_water_vy(m/s)=-0.128678155657944 456.477 secs ago sensor:u_alt_min_depth(m)=2 1e+308 secs ago sensor:u_max_altimeter(m)=100 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=1028.3696 2866.01 secs ago sensor:x_last_wpt_lon(lon)=12402.4068 2866.01 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 4/ 4/ 0 odd: 174/ 147/ 2 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior goto_list_4 entered B_ERROR state ABORT HISTORY: last abort time: 2025-07-17T23:33:11 ABORT HISTORY: last abort segment: ru44-2025-197-2-0 (0156.0000) ABORT HISTORY: last abort mission: deep.mi Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations waiting for final gps fix(ideally -392 secs) Waypoint: (1028.3950,12402.0538) Range: 559m, Bearing: 7deg, Age: 0:47h:m Time until diving is: 259 secs ^R507378 12 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION 507378 01580118.mcg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=279.1K(285824 bytes) M_MIN_FREE_HEAP=198.5K(203220 bytes) M_SRAM_FREE_HEAP=1293.2K(1324272 bytes) M_SRAM_MIN_FREE_HEAP=1165.2K(1193160 bytes) Running algorithm to free disk space if required Not necessary to delete any files at this time Scanning free space... Megabytes used on c: = 153.812500 Megabytes available on c: = 7721.187500 Megabytes used on w: = 0.021973 Megabytes available on w: = 0.978027 Writing longterm state disk file: c:/state/longterm.sta f_fin_deadzone_width(rad) 0.060000 f_ocean_pressure_min(volts) 0.097662 m_avg_climb_rate(m/s) -0.139531 m_avg_speed(m/s) 0.260297 m_avg_upward_inflection_time(sec) 54.845546 m_battery(volts) 16.111057 m_coulomb_amphr_total(amp-hrs) 32.460160 m_iridium_call_num(nodim) 1111.000000 m_iridium_dialed_num(nodim) 1513.000000 m_lat(lat) 1028.093700 m_lon(lon) 12402.020400 m_pump_effective_num_cycles(nodim) 1263.000000 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 1431.592183 m_tot_num_inflections(nodim) 2525.000000 m_tot_num_thermal_valve_cmd(nodim) 2878.000000 m_weight_drop(bool) 0.000000 s_water_depth_avg(m) 2000.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 x_hover_ballast_deep(cc) -40.188008 x_hover_ballast_shallow(cc) 103.872893 x_hover_depth_deep(m) 297.210337 x_hover_depth_shallow(m) 45.968697 x_last_wpt_lat(lat) 1028.369600 x_last_wpt_lon(lon) 12402.406800 Housekeeping is done 507391 14 01580119.mcg LOG FILE OPENED 507391 init_gps_inpu